void Initializer()
{
WiringPiLib = new WirinPiWrapper();
WiringPiLib.WiringPiSetupGpio();
WiringPiLib.PinMode(SHUTDOWNPIN, PinType.INPUT);
WiringPiLib.PullUpDnControl(SHUTDOWNPIN, PullUpType.PUD_UP);
WiringPiLib.PinMode(ACTIVPIN, PinType.INPUT);
WiringPiLib.PullUpDnControl(ACTIVPIN, PullUpType.PUD_DOWN);
for (int i = 0; i < Sensors.Length; i++)
{
WiringPiLib.PinMode(Sensors [i], PinType.INPUT);
WiringPiLib.PullUpDnControl(Sensors[i], PullUpType.PUD_DOWN);
}
SleepBetweenActions = Int32.Parse(ConfigurationManager.AppSettings ["Hund_SleepBetweenActions"]);
int pwmRange = Int32.Parse(ConfigurationManager.AppSettings ["Hund_PWM_Range"]);
int servohertz = Int32.Parse(ConfigurationManager.AppSettings ["HundServohertz"]);
int servoMaximalAusschlagGrad = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMaximalAusschlagGrad"]);
int hundServoMilliSecLeft = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMicroSecLeft"]);
int hundServoMilliSecRight = Int32.Parse(ConfigurationManager.AppSettings ["HundServoMicroSecRight"]);
InvertSensorInput = bool.Parse(ConfigurationManager.AppSettings ["HundInvertSensorInput"]);
NonPlausibleWaitTimerMilliSec = Int32.Parse(ConfigurationManager.AppSettings ["HundNonPlausibleWaitTimerMilliSec"]);
LenkDeltaInGrad = float.Parse(ConfigurationManager.AppSettings ["HundLenkDeltainGrad"]);
LenkServo = new Servo(PWMServoPin, servohertz, pwmRange, servoMaximalAusschlagGrad, WiringPiLib, hundServoMilliSecLeft, hundServoMilliSecRight);
}
public FolienTastatur()
{
wiringPiLib.WiringPiSetupGpio();
for (int i = 0; i < Rows.Length; i++)
{
wiringPiLib.PinMode(Rows [i], PinType.OUTPUT);
wiringPiLib.DigitalWrite(Rows [i], 0);
wiringPiLib.PinMode(Cols [i], PinType.INPUT);
wiringPiLib.PullUpDnControl(Cols[i], PullUpType.PUD_DOWN);
}
}